3D Laser SLAM: Interpretation of LeGO-LOAM Papers---Hardware System Part

硬件系统

Framework of the paper is composed of two kinds of laser radar data measured

激光雷达

• 1 VLP-16：
  Measuring range as far as100米,精度为±3厘米
  30°（±15°）的垂直视场（FOV）和360°的水平FOV
  16Channel sensors provide2°The vertical Angle resolution
  Horizontal Angle resolution according to the different rotating speed,从0.1°到0.4°变化
  10Hz的扫描速率,水平角分辨率为0.2°

• 2 HDL-64E
  60°的水平FOV
  48个通道
  垂直FOV为26.9°

移动车辆

使用的UGV是Clearpath Jackal
锂电池供电
最大速度为2.0米/秒,最大有效载荷为20千克
Integrated low cost inertial measurement unit（IMU）,型号为CH Robotics UM6
如下图所示

计算单元

There are two cell to verify

• 1 嵌入式计算设备 Nvidia Jetson TX2
  Jetson TX2Is an embedded computing equipment,配备ARM Cortex-A57 CPU.

• 2 台式计算机 2.5GHz i7-4710MQ
  电脑CPU以与LOAMUsed in the calculation of the hardware is the same

原文